From b9d6981cee9878158435b9b1daa955d5b25c0389 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 27 Aug 2013 13:40:18 +0200 Subject: multirotor_att_control: yaw control bug fixed --- .../multirotor_att_control_main.c | 31 ++++++++++++---------- 1 file changed, 17 insertions(+), 14 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 09955ec50..b3669d9ff 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -147,8 +147,6 @@ mc_thread_main(int argc, char *argv[]) warnx("starting"); /* store last control mode to detect mode switches */ - bool flag_control_manual_enabled = false; - bool flag_control_attitude_enabled = false; bool control_yaw_position = true; bool reset_yaw_sp = true; bool failsafe_first_time = true; @@ -213,6 +211,11 @@ mc_thread_main(int argc, char *argv[]) /* set flag to safe value */ control_yaw_position = true; + /* reset yaw setpoint if not armed */ + if (!control_mode.flag_armed) { + reset_yaw_sp = true; + } + /* define which input is the dominating control input */ if (control_mode.flag_control_offboard_enabled) { /* offboard inputs */ @@ -234,10 +237,12 @@ mc_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); } + /* reset yaw setpoint after offboard control */ + reset_yaw_sp = true; + } else if (control_mode.flag_control_manual_enabled) { /* manual input */ if (control_mode.flag_control_attitude_enabled) { - /* control attitude, update attitude setpoint depending on mode */ /* if the RC signal is lost, try to stay level and go slowly back down to ground */ if (control_mode.failsave_highlevel) { @@ -279,17 +284,8 @@ mc_thread_main(int argc, char *argv[]) } else { failsafe_first_time = true; - /* control yaw in all manual / assisted modes */ - /* set yaw if arming or switching to attitude stabilized mode */ - - if (!flag_control_manual_enabled || !flag_control_attitude_enabled || !control_mode.flag_armed) { - reset_yaw_sp = true; - } - - /* only move setpoint if manual input is != 0 */ - - // TODO review yaw restpoint reset - if ((manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) && manual.throttle > min_takeoff_throttle) { + /* only move yaw setpoint if manual input is != 0 and not landed */ + if (manual.yaw < -yaw_deadzone || yaw_deadzone < manual.yaw) { /* control yaw rate */ control_yaw_position = false; rates_sp.yaw = manual.yaw; @@ -340,7 +336,14 @@ mc_thread_main(int argc, char *argv[]) rates_sp.thrust = manual.throttle; rates_sp.timestamp = hrt_absolute_time(); } + + /* reset yaw setpoint after ACRO */ + reset_yaw_sp = true; } + + } else { + /* reset yaw setpoint after non-manual control */ + reset_yaw_sp = true; } /* check if we should we reset integrals */ -- cgit v1.2.3